This project implements a path planner using RRT (Rapidly-exploring Random Tree) and PRM (Probabilistic Roadmap) algorithms! This was a fun project in order to learn and practice my coding skills with no practical goal in mind. Developed entirely from scratch using CSS, HTML, and JS, this project emerged as a delightful exploration into robotics and algorithms. You can try the demo of the algorithm here.
This project aims to provide users with an interactive platform to visualize and understand RRT and PRM path planning algorithms.
Users can drag start and end points on a maze, customize algorithm parameters, and witness the algorithm finding the optimal path between these points in real-time.
The development of this RRT and PRM Path Planner project involved a comprehensive process, building each component from the ground up. The journey began with the creation of fundamental classes for the search tree, allowing the algorithm to efficiently explore and store potential paths. The process of adding nodes to the tree was carefully implemented with lots of debugging involved, ensuring that the exploration process was accurate.
A crucial aspect of the project involved designing a heuristic function to guide the algorithm's decision-making process. Moreover, the user interface was designed to be intuitive and interactive. Users can seamlessly drag start and end points, tweaking parameters like the number of closest neighbors, minimum threshold distance, and maximum step size. This interactive approach ensures that users can witness firsthand how alterations in these parameters impact the path-finding process.
Adjusting parameters such as the number of closest neighbors, minimum threshold distance, maximum step size, and simulation speed significantly impacts the algorithm's behavior. Users can observe how these adjustments influence the efficiency and optimality of the path discovered by the RRT and PRM algorithms.
